TypingAid

Controller that can lift a human's arm to aid with typing.

Two hardware systems are targeted: Controller code under franka_typing_aid is designated for the Franka 7-DOF robot arm. Code under anydrive_typing_aid can be executed with an ANYdrive-based setup.

ANYdrive Solution (anydrive_typing_aid)

Notes on setup of anydrive SDK

Capability setting (details described in SDK readme):

sudo setcap cap_net_raw+ep devel/.private/anydrive_ethercat_ros/lib/anydrive_ethercat_ros/anydrive_ethercat_ros_node

Dependencies are listed in the install_dependencies.sh script.

Franka Solution (franka_typing_aid)

Requirements:

Install ROS melodic. Install the following package(s):

sudo apt install ros-melodic-libfranka